JP5880492B2 - Rotating electrical machine control device - Google Patents

Description

  The present invention relates to a rotating electrical machine control device.

  Conventionally, in a control device for a rotating electrical machine, information related to a phase voltage, a phase current, and the like is AD converted and acquired as an AD value, and the driving of the rotating electrical machine is controlled based on the acquired AD value. The AD value is acquired via an input terminal or the like. At this time, for example, when the characteristics of the AD values acquired from adjacent input terminals are close, it is difficult to determine whether the AD values are normal and the AD values are temporarily matched or the input terminals are short-circuited. . Therefore, in Patent Document 1, the AD values having different characteristics are input to adjacent input terminals.

Japanese Patent Laying-Open No. 2005-245053

However, in Patent Document 1, a hardware configuration is restricted, for example, input terminals for acquiring phase terminal voltages of a rotating electrical machine cannot be arranged adjacent to each other.
The present invention has been made in view of the above-described problems, and an object of the present invention is to control a rotating electrical machine that can appropriately determine an abnormality in a voltage detection value related to a parameter that changes when a current is applied to the rotating electrical machine. To provide an apparatus.

The present invention relates to a rotating electrical machine control device that controls driving of a rotating electrical machine that outputs an auxiliary torque corresponding to a steering torque that is input when a driver steers a steering member. Means, steering determination means, and abnormality determination means.
The voltage signal acquisition means acquires a voltage detection value related to a parameter that changes when the rotating electrical machine is energized. The energization determining means determines whether or not the rotating electrical machine is in an energized state. The steering determination means determines whether or not the steering member is being steered.
The abnormality determination means does not determine whether the voltage detection value is abnormal when the rotating electrical machine is not energized or when the steering angular velocity at which the steering member is steered is smaller than the steering determination threshold. In addition, the abnormality determination means is in a state of energizing the rotating electrical machine, and when the steering angular speed at which the steering member is steered is equal to or higher than the steering determination threshold , the voltage is determined based on the behavior of the voltage detection value over a predetermined period. Determine abnormality of detected value.

In the present invention, if the rotating electrical machine is being energized and the steering member is being steered, the voltage detection value relating to the parameter that changes when the rotating electrical machine is energized is normal. Change. Therefore, in the present invention, when the rotating electrical machine is in a state of being energized and the steering member is being steered, the abnormality detection of the voltage detection value is performed based on the behavior of the voltage detection value over a predetermined period. Is going. In other words, when there is a possibility that the voltage detection value will exhibit the same behavior over a predetermined period between the normal time and the abnormal time, the abnormality determination of the voltage detection value is not performed.
Accordingly, it is possible to appropriately determine abnormality of the voltage detection value relating to the parameter that changes when the rotating electrical machine is energized without erroneously determining that it is abnormal although it is normal.

It is a block diagram which shows the rotary electric machine control apparatus by 1st Embodiment of this invention. It is a mimetic diagram showing the electric power steering device to which the rotary electric machine control device of a 1st embodiment of the present invention is applied. It is explanatory drawing explaining each phase terminal voltage of 1st Embodiment of this invention. It is a flowchart explaining the abnormality determination process by 1st Embodiment of this invention. It is a flowchart explaining the abnormality determination process by 2nd Embodiment of this invention.

Hereinafter, a rotating electrical machine control apparatus according to the present invention will be described with reference to the drawings. Hereinafter, in a plurality of embodiments, substantially the same configuration is denoted by the same reference numeral, and description thereof is omitted.
(First embodiment)
A rotating electrical machine control apparatus according to a first embodiment of the present invention is shown in FIG. The rotating electrical machine control device 1 controls driving of a motor 10 as a rotating electrical machine. The rotating electrical machine control device 1 includes an electronic control unit (ECU), and is applied to an electric power steering device 100 (see FIG. 2) for assisting a steering operation of a vehicle, for example, together with a motor 10.

  FIG. 2 shows an overall configuration of a steering system 90 including the electric power steering apparatus 100. The steering system 90 includes a steering wheel (steering wheel) 91 as a steering member, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, an electric power steering device 100, and the like.

The handle 91 is connected to the steering shaft 92. The steering shaft 92 is provided with a torque sensor 94 that detects a steering torque input by the driver operating the handle 91. The torque sensor 94 outputs a torque signal TRQ corresponding to the steering torque to the control unit 40 (see FIG. 1).
The steering shaft 92 is provided with a steering angle sensor 95 that detects the steering angle θh of the handle 91. The steering angle sensor 95 outputs a steering angle signal related to the steering angle θh to the control unit 40 (see FIG. 1).
A pinion gear 96 is provided at the tip of the steering shaft 92, and the pinion gear 96 meshes with the rack shaft 97. A pair of wheels 98 are connected to both ends of the rack shaft 97 via tie rods or the like.

  Thus, when the driver steers the handle 91, the steering shaft 92 connected to the handle 91 rotates. The rotational motion of the steering shaft 92 is converted into a linear motion of the rack shaft 97 by the pinion gear 96, and the pair of wheels 98 are steered at an angle corresponding to the amount of displacement of the rack shaft 97.

  The electric power steering apparatus 100 includes a motor 10 that generates an assist torque for assisting the steering of the handle 91 by the driver, a rotating electrical machine control apparatus 1 that controls the driving of the motor 10, and a steering shaft 92 or a motor that decelerates the rotation of the motor 10. A reduction gear 93 that transmits to the rack shaft 97 is provided. The motor 10 rotates the reduction gear 93 forward and backward. As a result, the electric power steering apparatus 100 generates an auxiliary torque for assisting the steering of the handle 91 from the motor 10 and transmits the auxiliary torque to the steering shaft 92 or the rack shaft 97 via the reduction gear 93.

  The motor 10 of the present embodiment is a three-phase brushless motor, and is driven by battery power (not shown). Motor 10 may be a motor other than a three-phase brushless motor. The motor 10 has a rotor and a stator (not shown). The rotor is a cylindrical member, and a permanent magnet is affixed to the surface or inside thereof and has a magnetic pole. The stator has a protruding portion that protrudes radially inward at predetermined angles, and a U-phase coil, a V-phase coil, and a W-phase coil are wound around the protruding portion. Further, the motor 10 is provided with a rotation angle sensor 15 that detects an electrical angle θm that is the rotation position of the rotor. The rotation angle sensor 15 outputs the rotation signals SIN and COS related to the electrical angle θm to the control unit 40 (see FIG. 1) via the amplifier circuit 16.

As shown in FIG. 1, the rotating electrical machine control device 1 includes an electronic control unit (ECU), and includes an inverter unit 20, a current sensor 30, a control unit 40, and a connector (not shown) used for connection to the outside. Prepare.
The inverter unit 20 is a three-phase inverter, and six switching elements are bridge-connected. The switching element is, for example, a MOSFET (metal-oxide-semiconductor field-effect transistor) which is a kind of field effect transistor. The switching element is not limited to a MOSFET but may be an IGBT, a thyristor, or the like. One of the two switching elements is connected to the high potential side and the other is connected to the low potential side to constitute one switching element pair (arm). The three switching element pairs are connected to the U-phase coil, the V-phase coil, and the W-phase coil of the motor 10, respectively.

  The inverter unit 20 controls the on / off operation of the switching element via the pre-driver 25 by a control unit 40 described later, converts electric power supplied from a battery (not shown), and supplies the electric power to the motor 10. Further, a power relay (not shown) that can cut off the supply of power from the battery to the inverter unit 20 is provided between the battery and the inverter unit 20.

  The current sensor 30 is composed of, for example, a shunt resistor, and is provided between each switching element pair and the ground. The voltage across the shunt resistor is output to the control unit 40 via the amplifier circuit 31.

The control unit 40 controls the entire rotating electrical machine control device 1 and includes a microcomputer that executes various calculations.
The control unit 40 includes a three-phase / two-phase conversion unit 45, subtracters 51 and 52, PI control units 53 and 54, a two-phase / three-phase conversion unit 55, a PWM conversion unit 56, an abnormality determination unit 60, and a steering angular velocity. A calculation unit 65 and the like are included. The 3-phase / 2-phase conversion unit 45, the subtractors 51, 52, the PI control units 53, 54, the 2-phase / 3-phase conversion unit 55, the PWM conversion unit 56, the abnormality determination unit 60, and the steering angular velocity calculation unit 65 are: Any of them may be configured by software, may be configured by hardware, or may be configured by a combination of software and hardware.

  The three-phase / two-phase converter 45 includes a U-phase current signal related to the U-phase current Iu acquired from the current sensor 30 via the amplifier circuit 31, a V-phase current signal related to the V-phase current Iv, and a W-phase current Iw. A W-phase current signal is obtained. Hereinafter, the U-phase current signal, the V-phase current signal, and the W-phase current signal are simply referred to as a U-phase current Iu, a V-phase current Iv, and a W-phase current Iw as appropriate. Further, the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw are also referred to as phase currents Iu, Iv, and Iw as appropriate.

  The three-phase / 2-phase converter 45 converts the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw into a d-axis current Id and a q-axis current Iq by dq conversion based on the electrical angle θm. Thereby, the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw are converted from the three-phase coordinates to the dq coordinates.

The subtractor 51 calculates a d-axis current deviation ΔId that is a difference between the d-axis current command value Id ^* and the d-axis current Id. The subtractor 52 calculates a q-axis current deviation ΔIq that is a difference between the q-axis current command value Iq ^* and the q-axis current Iq. The d-axis current command value Id ^* and the q-axis current command value Iq ^* are calculated by a command calculation unit (not shown) according to the steering torque, the vehicle speed, and the like.

Based on the d-axis current deviation ΔId input from the subtractor 51, the PI control unit 53 performs a PI operation so that the d-axis current command value Id ^* follows the d-axis current command value Id ^*. Vd ^* is calculated. Based on the q-axis current deviation ΔIq input from the subtractor 52, the PI control unit 54 performs a q-axis voltage command value by PI calculation so that the q-axis current Iq that is an actual current follows the q-axis current command value Iq ^*. Vq ^* is calculated.

The 2-phase / 3-phase conversion unit 55 converts the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* into a U-phase voltage command value that is a three-phase voltage command value by inverse dq conversion based on the electrical angle θm. Conversion into Vu ^* , V-phase voltage command value Vv ^*, and W-phase voltage command value Vw ^* .
In the PWM conversion unit 56, based on the U-phase voltage command value Vu ^* , the V-phase voltage command value Vv ^*, and the W-phase voltage command value Vw ^* , the U-phase duty command value corresponding to the ratio of the ON period of the switching element of each phase. Du, V-phase duty command value Dv, and W-phase duty command value Dw are calculated.

The U-phase duty command value Du, V-phase duty command value Dv, and W-phase duty command value Dw output from the PWM conversion unit 56 are converted into drive signals by the pre-driver 25. Based on the drive signal, the on / off operation of the switching element of the inverter unit 20 is controlled.
Thereby, the control unit 40 performs PWM control of the motor 10 via the inverter unit 20.

The abnormality determination unit 60 performs abnormality determination on the voltage detection value acquired by the control unit 40.
Here, the voltage detection value acquired by the control unit 40 will be described. In the present embodiment, a connector terminal formed on the connector of the rotating electrical machine control device 1 is represented by Te, and an input terminal formed on the control unit 40 is represented by Tm.

Control unit 40 obtains the U-phase terminal voltage Vu via the connector terminals Te1 and the input terminal Tm1, obtains the V phase terminal voltage Vv via the connector terminal Te2 and the input terminal Tm2, the connector pin T e3 The W-phase terminal voltage Vw is acquired via the input terminal Tm3.

  The control unit 40 acquires the rotation signals SIN and COS related to the electrical angle θm from the rotation angle sensor 15 via the connector terminals Te4 and Te5, the amplifier circuit 16, and the input terminals Tm4 and Tm5. Using the acquired rotation signals SIN and COS, the angle calculator (not shown) calculates the electrical angle θm. The electrical angle θm is used for dq conversion in the 3-phase / 2-phase conversion unit 45, inverse dq conversion in the 2-phase / 3-phase conversion unit 55, and the like.

The control unit 40 acquires a torque signal TRQ from the torque sensor 94 via the connector terminal Te6 and the input terminal Tm6. Torque signal TRQ is used for calculation of d-axis current command value Id ^* and q-axis current command value Iq ^* .
Further, the control unit 40 acquires a steering angle signal related to the steering angle θh from the steering angle sensor 95 via the connector terminal Te7 and the input terminal Tm7. The steering angular velocity calculation unit 65 calculates the steering angular velocity ω based on the steering angle θh.

  The control unit 40 acquires a U-phase current signal related to the U-phase current Iu via the input terminal Tm8, acquires a V-phase current signal related to the V-phase current Iv via the input terminal Tm9, and inputs the input terminal Tm10. The W-phase current signal related to the W-phase current Iw is acquired via. In the present embodiment, each phase current signal related to each phase current Iu, Iv, Iw is acquired internally by the rotating electrical machine control device 1, and therefore a connector terminal related to each phase current signal is provided. Absent.

In the present embodiment, it is assumed that the connector terminals Te1 to Te7 are arranged adjacent to each other in this order. Further, it is assumed that the input terminals Tm1 to Tm10 are arranged adjacent to each other in this order.
The U-phase terminal voltage Vu, V-phase terminal voltage Vv, W-phase terminal voltage Vw, U-phase current signal, V-phase current signal, W-phase current signal, rotation signal SIN, COS, torque signal TRQ, and steering angle signal are: Both are AD values that have been AD converted, and correspond to “a voltage detection value relating to a parameter that changes when a current is applied to the rotating electrical machine”.

Here, each phase terminal voltage Vu, Vv, Vw is demonstrated based on FIG.
As shown in FIG. 3, the phase terminal voltages Vu, Vv, and Vw are sinusoidal waves having different phases when normal. Further, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv are equal at the electrical angles θm1 and θm2.

  In the present embodiment, an input terminal Tm1 that acquires the U-phase terminal voltage Vu and an input terminal Tm2 that acquires the V-phase terminal voltage Vv are arranged adjacent to each other. Therefore, when the input terminal Tm1 and the input terminal Tm2 are short-circuited, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other regardless of the electrical angle θm, as indicated by a two-dot chain line Vs in FIG. Although the short circuit of the input terminal of the control unit 40 has been described here, the same applies to the case where the acquisition path of the U-phase terminal voltage Vu including the input terminal and the connector terminal and the acquisition path of the V-phase terminal voltage Vv are short-circuited. Hereinafter, “short circuit between terminals” includes such a short circuit of the acquisition path.

  That is, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv match when the terminals are short-circuited. In addition, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv may coincide with each other depending on the electrical angle even during normal operation. Therefore, for example, when the motor 10 is stopped at the electrical angle θm1, the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv match is normal even if it is normal. It is difficult to determine whether a short circuit abnormality between terminals has occurred, and a short circuit abnormality between terminals cannot be detected properly.

  Here, when two voltage detection values that have the same voltage value even when normal, such as the U-phase terminal voltage Vu and the V-phase terminal voltage Vv, are “voltage detection values having similar characteristics”, By placing the input terminals to input voltage detection values close to each other physically apart so that they are not next to each other, the voltage detection value when the short circuit abnormality between terminals occurs and the voltage detection value at normal time are different. It is possible to detect a short circuit abnormality between terminals. However, the degree of freedom related to the terminal arrangement design is reduced, for example, the terminal related to the acquisition of the U-phase terminal voltage Vu and the terminal related to the acquisition of the V-phase terminal voltage Vv cannot be arranged next to each other. End up.

  Therefore, in the present embodiment, even when a voltage detection value having a close characteristic is input to adjacent input terminals, an abnormality determination process capable of detecting an inter-terminal short-circuit abnormality is performed. Here, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv will be described as an example, but it is possible to determine the short-circuit abnormality between the terminals by the same process for other voltage detection values such as the W-phase terminal voltage Vw.

The abnormality determination process will be described based on the flowchart shown in FIG. The abnormality determination process is executed at predetermined intervals by the abnormality determination unit 60 when, for example, the ignition power is turned on.
In the first step S101 (hereinafter, “step” is omitted and simply indicated by the symbol “S”), the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq calculated by the PI control units 53 and 54 are used. ^* Get.

In S102, the steering angular velocity ω calculated by the steering angular velocity calculator 65 is acquired.
In S103, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv are acquired.
In S104, it is determined whether or not the motor 10 is in an energized state. In the present embodiment, when the sum of squares of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* is equal to or greater than the energization determination threshold value Xi, that is, (Vd ^* ) ² + (Vq ^* ) ² ≧ Xi. In this case, it is determined that the motor 10 is being energized. Here, in order to determine whether or not the sum of squares of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* is substantially zero, the energization determination threshold value Xi is a value close to zero considering sensor error and the like. Is set. If it is determined that the motor 10 is not energized (S104: NO), that is, if (Vd ^* ) ² + (Vq ^* ) ² <Xi, the processing of S105 to S109 is not performed. If it is determined that the motor 10 is energized (S104: YES), that is, if (Vd ^* ) ² + (Vq ^* ) ² ≧ Xi, the process proceeds to S105.

  In S105, it is determined whether or not the handle 91 is being steered. In the present embodiment, based on the steering angular velocity ω, when the steering angular velocity ω is equal to or higher than the steering determination threshold value Xω, it is determined that the steering wheel 91 is being steered. Here, in order to determine whether or not the steering angular velocity ω is substantially zero, the steering determination threshold value Xω is set to a value close to zero in consideration of sensor errors and the like. When it is determined that the steering wheel 91 is not being steered (S105: NO), that is, when the steering angular velocity ω is smaller than the steering determination threshold value Xω, the processing of S106 to S109 is not performed. When it is determined that the steering wheel 91 is being steered (S105: YES), that is, when the steering angular velocity ω is equal to or higher than the steering determination threshold value Xω, the process proceeds to S106.

In S106, it is determined whether or not the U-phase terminal voltage Vu and the V-phase terminal voltage Vv match. In the present embodiment, when the absolute value of the difference between the U-phase terminal voltage Vu and the V-phase terminal voltage Vv is equal to or less than the short-circuit determination threshold value Xs, it is determined that the U-phase terminal voltage Vu and the V-phase terminal voltage Vv match. The short circuit determination threshold value Xs is set to a value close to zero in consideration of sensor error and the like. When it is determined that the U-phase terminal voltage Vu and the V-phase terminal voltage Vv do not match (S106: NO), that is, the absolute value of the difference between the U-phase terminal voltage Vu and the V-phase terminal voltage Vv is based on the short-circuit determination threshold value Xs. If larger, the processing of S107 to S109 is not performed. When it is determined that the U-phase terminal voltage Vu and the V-phase terminal voltage Vv match (S106: YES), that is, the absolute value of the difference between the U-phase terminal voltage Vu and the V-phase terminal voltage Vv is less than or equal to the short-circuit determination threshold value Xs. If there is, the process proceeds to S107.
If a negative determination is made in S104 to S106, a count value C described later is reset.

In S107, the count value C of the counter is incremented.
In S108, it is determined whether or not the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other continues for a predetermined time. In the present embodiment, when the count value C is larger than the count determination threshold value Xc, it is determined that the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other continues for a predetermined time. The count determination threshold value Xc is set as a value corresponding to a predetermined time related to abnormality determination. When it is determined that the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other is not continued for a predetermined time (S108: NO), that is, when the count value C is equal to or less than the count determination threshold value Xc. , S109 is not performed. If a negative determination is made in S108, the count value C is maintained without being reset. When it is determined that the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other for a predetermined time (S108: YES), that is, when the count value C is greater than the count determination threshold value Xc, the process proceeds to S109. Transition.
In S109, it is determined that the U-phase terminal voltage Vu and the V-phase terminal voltage Vv are abnormal. Specifically, it is determined that an inter-terminal short-circuit abnormality has occurred in which the acquisition path for acquiring the U-phase terminal voltage Vu and the acquisition path for acquiring the V-phase terminal voltage Vv are short-circuited.

  That is, in the present embodiment, when the motor 10 is not energized or when the handle 91 is not steered, the U-phase terminal voltage Vu and the V-phase terminal voltage Vv do not change. Therefore, depending on the electrical angle θm, the state in which the U-phase terminal voltage Vu and the V-phase terminal voltage Vv coincide with each other is maintained even if no short circuit between terminals occurs. Therefore, when a short circuit between terminals is determined based on the coincidence of the U-phase terminal voltage Vu and the V-phase terminal voltage Vv in a state where the motor 10 is not energized or the handle 91 is not steered, the electrical angle θm In spite of being normal, there is a risk of erroneously determining that a short circuit abnormality between terminals has occurred.

  Therefore, in the present embodiment, when the motor 10 is not energized (S104: NO), or when the handle 91 is not steered (S105: NO), the determination of the short circuit abnormality between terminals is performed. Absent. Accordingly, it is possible to avoid erroneous determination that a short circuit between terminals has occurred even though no short circuit between terminals has occurred, and it is possible to appropriately determine a short circuit abnormality between terminals.

  As described above in detail, the rotating electrical machine control device 1 controls the drive of the motor 10 that outputs the auxiliary torque corresponding to the steering torque input by the driver steering the handle 91. The abnormality determination unit 60 acquires a voltage detection value relating to a parameter that changes when a current is supplied to the motor 10.

The abnormality determination unit 60 determines whether or not the motor 10 is in a state of being energized (S104). In addition, the abnormality determination unit 60 determines whether or not the steering wheel 91 is being steered (S105).
When the motor 10 is energized and the handle 91 is being steered (S104: YES and S105: YES), based on the behavior of the voltage detection value over a predetermined period, Determine abnormality of voltage detection value.

If the motor 10 is in a state of being energized and the handle 91 is being steered, parameters that change when the motor 10 is energized (for example, the phase terminal voltages Vu, Vv, The detected voltage value related to Vw and the like changes. Therefore, in the present embodiment, when the motor 10 is being energized and the handle 91 is being steered, an abnormality determination of the voltage detection value is performed based on the behavior of the voltage detection value over a predetermined period. It is carried out. In other words, when there is a possibility that the voltage detection value may exhibit the same behavior during normal time and abnormality over a predetermined period, the abnormality determination of the voltage detection value is not performed.
Accordingly, it is possible to appropriately determine abnormality of the voltage detection value relating to the parameter that changes when the motor 10 is energized without erroneously determining that it is abnormal although it is normal.

  Specifically, the abnormality determination unit 60 acquires a first voltage detection value and a second voltage detection value as voltage detection values. In the present embodiment, the first voltage detection value is the U-phase terminal voltage Vu, and the second voltage detection value is the V-phase terminal voltage Vv.

  In the abnormality determination unit 60, when the U-phase terminal voltage Vu, which is the first voltage detection value, matches the V-phase terminal voltage Vv, which is the second voltage detection value, over a predetermined period (S106: YES, S108: YES). The U-phase terminal voltage Vu and the V-phase terminal voltage Vv are determined to be abnormal. Specifically, it is determined that a short circuit abnormality has occurred in which a path for acquiring the U-phase terminal voltage Vu and a path for acquiring the V-phase terminal voltage Vv are short-circuited. In other words, when the first voltage detection value and the second voltage detection value coincide with each other over a predetermined period, a short circuit abnormality in which the path for acquiring the first voltage detection value and the path for acquiring the second voltage detection value are short-circuited. It is determined that the problem has occurred.

As a result, for example, two voltage detection values having similar characteristics such as the U-phase terminal voltage Vu and the V-phase terminal voltage Vv whose values temporarily match even though they are normal are normal although they are normal. It is possible to avoid erroneous determination that a short circuit between terminals has occurred, and it is possible to appropriately determine abnormality of the voltage detection value. In addition, since it is possible to appropriately determine the short circuit between the terminals regardless of the terminal arrangement in the abnormality determination process, two voltage detection values having similar characteristics can be obtained from adjacent terminals. The degree of freedom of design can be increased.
Here, “the first voltage detection value and the second voltage detection value match” is not limited to the case where the first voltage detection value and the second voltage detection value completely match. For example, a difference in sensor error or calculation error is allowed. .

When the sum of squares of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* related to the drive control of the motor 10 is equal to or greater than the energization determination threshold value Xi (S104: YES), the abnormality determination unit 60 It is determined that the power is being supplied. Thereby, it is possible to appropriately determine whether or not the motor 10 is properly energized with a small number of calculations.

  When the steering angular velocity ω at which the handle 91 is steered is equal to or higher than the steering determination threshold value Xω (S105: YES), the abnormality determination unit 60 determines that the handle 91 is being steered. Thereby, it is possible to appropriately determine whether or not the steering wheel 91 is being steered.

In the present embodiment, the abnormality determination unit 60 of the control unit 40 constitutes “voltage signal acquisition unit”, “energization determination unit”, “steering determination unit”, and “abnormality determination unit”. Further, S103 in FIG. 4 corresponds to the process as the function of the “voltage signal acquisition means”, S104 corresponds to the process as the function of the “energization determination means”, and S105 as the function of the “steering determination means”. Corresponding to the processing, S109 corresponds to the processing as the function of the “abnormality determination means”.
In this embodiment, the U phase corresponds to the “first phase” and the V phase corresponds to the “second phase”. Of course, the U phase may be the first phase, the W phase may be the second phase, the V phase may be the first phase, the U phase or the W phase may be the second phase, and the W phase is the first phase. The U phase or the V phase may be the second phase.

(Second Embodiment)
In the said embodiment, it demonstrated centering on the short circuit abnormality between the terminals of U phase terminal voltage Vu and V phase terminal voltage Vv.
In the present embodiment, for example, it is assumed that an input terminal Tm0 to which a power supply voltage via a regulator or the like is input is provided next to the input terminal Tm1 that acquires the U-phase terminal voltage Vu. If the voltage input from the input terminal Tm0 is an input voltage (for example, 5 [V]), a short circuit between the terminals at the input terminals Tm0 and Tm1 may cause a sticking abnormality in which the U-phase terminal voltage Vu is fixed to the input voltage. There is.

  Therefore, in this embodiment, it is possible to detect a sticking abnormality when an input terminal to which a constant value is input and an input terminal to which a voltage detection value that changes with time when the motor 10 is energized are short-circuited. An abnormal determination process is performed. Here, the U-phase terminal voltage Vu will be described as an example of the voltage detection value. Further, the fixing abnormality referred to here may be regarded as being included in the concept of the short circuit abnormality between terminals.

The abnormality determination process in this embodiment will be described based on the flowchart shown in FIG. The abnormality determination process is executed at predetermined intervals by the abnormality determination unit 60 when the ignition power is turned on.
The processing of S201 to S205 is substantially the same as S101 to S105 in FIG. In this embodiment, when a negative determination is made in S204 or S205, the count value C is reset, and the process proceeds to S209.

  In S206, it is determined whether or not the current value Vu (n), which is the currently acquired U-phase terminal voltage Vu, matches the previous value Vu (n-1), which is the previously acquired U-phase terminal voltage Vu. . In the present embodiment, when the absolute value of the difference between the current value Vu (n) and the previous value V (n−1) is equal to or smaller than the sticking determination threshold value Xf, the current value Vu (n) and the previous value Vu (n−1). ) Match. The sticking determination threshold value Xf is set to a value close to zero in consideration of sensor error and the like. When it is determined that the current value V (n) and the previous value Vu (n-1) do not match (S206: NO), that is, the difference between the current value Vu (n) and the previous value V (n-1). If the absolute value is larger than the sticking determination threshold value Xf, the count value C of the counter is reset, and the process proceeds to S209. When it is determined that the current value V (n) and the previous value Vu (n-1) match (S207: YES), that is, the absolute difference between the current value Vu (n) and the previous value V (n-1). When the value is equal to or smaller than the sticking determination threshold value Xf, the process proceeds to S207.

The process of S207 is the same as the process of S107 in FIG.
In S208, it is determined whether or not the state where the current value Vu (n) and the previous value Vu (n-1) coincide with each other continues for a predetermined time. In the present embodiment, as in S108 in FIG. 4, based on the count value C, when the count value C is greater than the count determination threshold value Xc, the current value Vu (n) and the previous value Vu (n−1) match. It is determined that the state has continued for a predetermined time. When it is determined that the state where the current value Vu (n) and the previous value Vu (n−1) coincide with each other is not continued for a predetermined time (S208: NO), that is, the count value C is the count determination threshold value Xc. When it is below, it transfers to S209. Here, the count value C is maintained without being reset. When it is determined that the state where the current value Vu (n) and the previous value Vu (n−1) coincide with each other for a predetermined time (S208: YES), that is, the count value C is greater than the count determination threshold value Xc. If it is determined that the value is large, the process proceeds to S210.

In S209, where a negative determination is made in S204, S205, S206, or S208, the current value Vu (n) is held. The held current value Vu (n) is used as the previous value Vu (n−1) in the next processing.
If the determination in S208 is affirmative, that is, if it is determined that the state in which the current value Vu (n) and the previous value Vu (n-1) coincide with each other for a predetermined time, the process proceeds to S210. It is determined that a sticking abnormality has occurred in the phase terminal voltage Vu.

  In the present embodiment, a sticking abnormality is detected by comparing the current value Vu (n) and the previous value Vu (n−1) of one voltage detection value (in this example, the U-phase terminal voltage Vu). Yes. Thereby, it is possible to detect a sticking abnormality without using a plurality of voltage detection values.

In the present embodiment, when the abnormality determination unit 60 determines that the current value Vu (n) and the previous value Vu (n−1) of the U-phase terminal voltage Vu, which are voltage detection values, coincide with each other over a predetermined period. (S205: YES, S208: YES), it is determined that the U-phase terminal voltage Vu is abnormal. Thereby, for example, it is possible to appropriately determine a sticking abnormality due to a short circuit between the voltage acquisition path for acquiring the U-phase terminal voltage Vu and the power supply line or the ground line.
Here, “the current value of the voltage detection value and the previous value match” is not limited to the case where they completely match, and for example, a difference such as a sensor error or a calculation error is allowed.
In addition, the same effects as those of the above embodiment can be obtained.

  In this embodiment, S203 in FIG. 5 corresponds to the processing as the function of the “voltage signal acquisition means”, S204 corresponds to the processing as the function of the “energization determination means”, and S205 is the “steering determination means”. Corresponding to processing as a function, S209 corresponds to processing as a function of “abnormality determination means”.

(Other embodiments)
(A) Voltage Detection Value In the above embodiment, the “voltage detection value” is the U-phase terminal voltage Vu and the V-phase terminal voltage Vv, the “first voltage detection value” is the U-phase terminal voltage Vu, The description has focused on an example where the “voltage detection value” is the V-phase terminal voltage Vv.

  In another embodiment, the U-phase current detection signal, the V-phase current detection signal, the W-phase current detection signal, the rotation signals SIN, COS, the torque signal TRQ, and the motor 10 exemplified as the voltage detection values in the above embodiment, An abnormality determination process similar to that in the above embodiment can be performed with the steering angle signal as a “voltage detection value”.

Further, since the switching element is switched on / off when a current flows through the rotating electrical machine, the temperature of the switching element rises due to switching loss. Therefore, the temperature of the switching element may be regarded as “a parameter that changes when the rotating electrical machine is energized”, and the detection value of a temperature detection element (eg, thermistor) that detects the temperature of the switching element may be the “voltage detection value”. .
In addition, the voltage detection value may be any detection value as long as it is a detection value relating to a parameter that changes when the rotating electrical machine is energized.
Further, the arrangement of terminals related to acquisition of various voltage detection values is not limited to the order of the above-described embodiments, and may be arranged in any order.

(A) Abnormality determination processing The same abnormality determination processing as in the above embodiment may be performed for all detected voltage values adjacent to the input terminal or the connector terminal. Also, when the characteristics of the voltage detection values acquired from adjacent terminals are close, the abnormality determination process of the above embodiment is performed, and when the characteristics of the voltage detection values are different, for example, S101, S102, S104 in FIG. The abnormality determination process may be performed in a separate process such as omitting the process of S105.

In the above embodiment, the passage of the predetermined period is determined based on the count value C of the counter. In another embodiment, the elapse of a predetermined period may be determined using a timer or the like instead of the counter.
In S101 to S106 in FIG. 4, if S101 is executed in the previous stage of S104, S102 is executed in the previous stage of S105, and S103 is executed in the previous stage of S106, the processing order may be changed. Good.
Similarly, in S201 to S206 in FIG. 5, if S201 is executed in the previous stage of S204, S202 is executed in the previous stage of S205, and S203 is executed in the previous stage of S206, the processing order is changed. Also good.

  Furthermore, a step of determining whether or not the power relay is turned on may be added to the first step of the abnormality determination process. When it is determined that the power supply relay is turned on, the process proceeds to S101 in FIG. 4, and when it is determined that the power supply relay is not turned on, the abnormality determination process may not be executed. The same applies to the processing of FIG.

(C) Energization determination means In the above embodiment, when the sum of squares is equal to or greater than the energization determination threshold value Xi based on the square sum of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* , the rotating electrical machine It is determined that the power is being supplied. In another embodiment, when the absolute values of the phase voltage command values Vu ^* , Vv ^* , Vw ^* are all equal to or greater than the energization determination threshold value Xi2, that is, | Vu ^* | ≧ Xi2, | Vv ^* | ≧ Xi2 and When | Vw ^* | ≧ Xi2, the configuration may be such that it is determined that the rotating electrical machine is being energized. In this case, in S101 in FIG. 4, the phase voltage command values Vu ^* , Vv ^* , and Vw ^* are obtained instead of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* . The same applies to S201 in FIG.

Further, when the absolute value of the value obtained by dividing each phase duty command value Du, Dv, Dw from 50 is equal to or greater than the energization determination threshold value Xi3, that is, | 50−Du | ≧ Xi3, | 50−Dv | ≧ Xi3 and | 50. When −Dw | ≧ Xi3, it may be determined that the rotating electrical machine is being energized. In this case, in S101 in FIG. 4, each phase duty command value Du, Dv, Dw is acquired instead of the d-axis voltage command value Vd ^* and the q-axis voltage command value Vq ^* . The same applies to S201 in FIG.
As with the energization determination threshold value Xi, the energization determination threshold values Xi2 and Xi3 are set to values close to 0 in consideration of sensor errors and the like.

(D) Steering determination means In the above embodiment, the steering angular velocity ω is calculated based on the steering angle θh acquired from the steering angle sensor. In another embodiment, instead of the steering angular velocity ω calculated based on the steering angle θh, for example, an estimated steering angular velocity ωe calculated based on the electrical angle θm of the rotating electrical machine may be used.

(E) Current sensor In the said embodiment, a current sensor is comprised by shunt resistance and is provided between a switching element pair and the ground. In another embodiment, the current sensor may be provided between the switching element pair and the high potential line, or may be provided between the switching element pair and the winding of the rotating electrical machine. Further, the current sensor is not limited to the shunt resistor, and may be, for example, a Hall element.
As mentioned above, this invention is not limited to the said embodiment at all, In the range which does not deviate from the meaning of invention, it can implement with a various form.

DESCRIPTION OF SYMBOLS 1 ... Rotating electrical machine control apparatus 10 ... Motor (rotating electrical machine)
20 ... Inverter 40 ... Control part 60 ... Abnormality determination part (Voltage signal acquisition means, energization determination means, steering determination means, abnormality determination means)
91 ... Handle (steering member)

Claims (5)

A rotating electrical machine control device (1) for controlling driving of a rotating electrical machine (10) that outputs an auxiliary torque corresponding to a steering torque input by a driver steering a steering member (91),
Voltage signal acquisition means (S103, S203) for acquiring a voltage detection value relating to a parameter that changes when the rotating electrical machine is energized;
Energization determining means (S104, S204) for determining whether or not the rotating electrical machine is in an energized state;
Steering judgment means (S105, S205) for judging whether or not the steering member is being steered;
If the rotating electrical machine is not energized, or if the steering angular speed at which the steering member is steered is smaller than a steering determination threshold value, the abnormality of the detected voltage value is not determined and the rotating electrical machine is energized. And the steering angular velocity is greater than or equal to the steering determination threshold (S104: YES and S105: YES, S204: YES and S205: YES), based on the behavior of the voltage detection value over a predetermined period. An abnormality determination means (S109, S210) for determining an abnormality of the voltage detection value;
A rotating electrical machine control device comprising: The voltage signal acquisition means (S103) acquires a first voltage detection value and a second voltage detection value as the voltage detection value,
The abnormality determination unit (S109) determines that the first voltage detection value and the second voltage detection value match the first voltage detection value and the second voltage detection value over the predetermined period. The rotating electrical machine control device according to claim 1, wherein it is determined that is abnormal. The first voltage detection value is a terminal voltage of the first phase of the rotating electrical machine,
The rotating electrical machine control device according to claim 2, wherein the second voltage detection value is a terminal voltage of a second phase different from the first phase of the rotating electrical machine.   The abnormality determining means (S210) determines that the detected voltage value is abnormal when it is determined that the current value and the previous value of the detected voltage value coincide with each other over the predetermined period. The rotating electrical machine control device according to claim 1.   When the sum of squares of the d-axis voltage command value and the q-axis voltage command value relating to the drive control of the rotating electrical machine is equal to or greater than an energization determination threshold, the energization determining unit is in a state of energizing the rotating electrical machine. The rotating electrical machine control device according to any one of claims 1 to 4, wherein the determination is made.

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